SlicerROS2 Setup - Ubuntu 24.04 (ROS2 Jazzy)

This page provides detailed manual installation instructions for all software components needed for this tutorial. Note: If you’re using the Docker image as mentioned in the Prerequisites, you can skip these installation steps.

Follow this guide if you prefer to set up the environment manually on your Ubuntu 24.04 system:

ROS2 Jazzy

Download and install ROS2 Jazzy - Instructions
Other requirements:

sudo apt install ros-dev-tools
sudo apt install ros-jazzy-xacro
sudo apt install ros-jazzy-tf2-geometry-msgs

Download SmartTemplate_demo in your ROS2 workspace src folder

3D Slicer with SlicerROS2

To use SlicerROS2, we must use a compiled version of 3D Slicer.

3D Slicer compilation:

Download 3D Slicer source code (v. 5.9.0)
Other requirements:

sudo apt update && sudo apt install git git-lfs build-essential \
libqt5x11extras5-dev qtmultimedia5-dev libqt5svg5-dev qtwebengine5-dev \
libqt5xmlpatterns5-dev qttools5-dev qtbase5-private-dev libxt-dev

Compile 3D Slicer - Instructions

Attention: Before you start compiling 3D Slicer, make sure to use the system/native OpenSSL libraries; otherwise, you’ll get some errors when compiling the SlicerROS2 module. You will need to do the following after you ran CMake for the first time:

In the Slicer-build directory, set Slicer_USE_SYSTEM_OpenSLL to ON using:

cmake ../Slicer -DSlicer_USE_SYSTEM_OpenSSL=ON -DCMAKE_BUILD_TYPE=Release

SlicerROS2 compilation:

Download SlicerROS2 source in your ROS2 worspace src folder: https://github.com/rosmed/slicer_ros2_module
Other requirements:

sudo apt install python3-colcon-common-extensions
sudo apt install ros-jazzy-object-recognition-msgs
sudo apt install ros-jazzy-moveit

Compile SlicerROS2 module - Instructions

Other required Slicer Modules for this tutorial:

SlicerDevelopmentToolbox: https://github.com/QIICR/SlicerDevelopmentToolbox.git
ZFrameRegistration (modified to include different ZFrame model selection): https://github.com/maribernardes/ZFrameRegistration-3DSlicer.git

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